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Unmanned ship dynamic locating control method

A control method and dynamic positioning technology, applied in non-electric variable control, two-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve the problem of unmanned dynamic positioning control

Inactive Publication Date: 2016-12-14
HARBIN ENG UNIV
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Problems solved by technology

At present, in the literature at home and abroad, no unmanned dynamic positioning control using this method has appeared.

Method used

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  • Unmanned ship dynamic locating control method
  • Unmanned ship dynamic locating control method
  • Unmanned ship dynamic locating control method

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Embodiment Construction

[0032] The present invention will be further described below in conjunction with the accompanying drawings.

[0033] combine figure 1 and figure 2 , the present invention comprises the following steps:

[0034] Step 1. Set the position parameters of the UAV

[0035] Under certain conditions of the ocean environment, set the position parameters of the unmanned vehicle.

[0036] Step 2. Estimate external environmental forces

[0037] The real-time external environmental force is calculated by the environmental force estimation method.

[0038] make For the estimated external environment force, the three items in the matrix successively represent the longitudinal force, lateral force and yaw moment of the external environment force on the UAV. The calculation expression of the external environment external force estimation is shown in the following formula:

[0039] τ ^ e n ...

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Abstract

The invention provides an unmanned ship dynamic locating control method which comprises the steps that 1, unmanned ship position parameters are set in a marine environment under certain conditions; 2,real-time external environment force is calculated through an environmental force estimating method; 3, optimal heading is calculated through an optimal heading control method, real-time unmanned ship dynamic information is updated, the optimal heading position is obtained according to the environment optimal heading control strategy based on whether ship side thrust under the action of real-time environmental disturbance force is zero or not, and unmanned ship information is updated; 4, unmanned ship dynamic locating control of a controller is forecast through a non-linear model. According to the control method, unmanned ship dynamic locating control can be accurately carried out, therefore, the ship movement controller enables a ship to keep movement precision without adjusting control algorithm parameters.

Description

technical field [0001] The invention relates to the field of dynamic positioning control of unmanned boats, in particular to a dynamic positioning control method of unmanned boats. Background technique [0002] An unmanned vehicle is a small surface ship that can plan autonomously, navigate autonomously, and can complete various tasks such as environmental information perception and target detection in an autonomous way or through manual intervention. [0003] As people pay more and more attention to unmanned boats, the motion control of unmanned boats in the ocean is becoming more and more important. The ocean environment is changeable, and the unmanned vehicle needs to resist different environmental external forces during the movement, and the environmental external forces in the ocean are characterized by variability. In view of the importance of unmanned boats, my country has also carried out research on autonomous intelligent surface unmanned boats. Therefore, it is n...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 王元慧张博丁福光王成龙王莎莎张放赵亮博包澄澄沈佳颖葛然
Owner HARBIN ENG UNIV
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